CN204184489U - A kind of chassis structure of Small Ground Mobile Robot - Google Patents
A kind of chassis structure of Small Ground Mobile Robot Download PDFInfo
- Publication number
- CN204184489U CN204184489U CN201420432629.9U CN201420432629U CN204184489U CN 204184489 U CN204184489 U CN 204184489U CN 201420432629 U CN201420432629 U CN 201420432629U CN 204184489 U CN204184489 U CN 204184489U
- Authority
- CN
- China
- Prior art keywords
- walking
- leg
- walking leg
- support
- road wheel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model relates to a kind of chassis structure of Small Ground Mobile Robot.This chassis structure can be divided into planet circular system transmission module, front walking leg, middle walking leg, rear walking leg, parallelogram linkage, vehicle body totally six parts according to functional module.The utility model solves with the Small Ground Mobile Robot obstacle climbing ability of wheel undercarriage operation weak, the defect of road surface adaptive capacity difference, simultaneously by conjunction with active and passive two kinds of obstacle detouring forms, solve the robot run based on connecting rod mechanism can not carry out across ditch, there will be the problem run dead point and cause losing efficacy, make this Small Ground Mobile Robot have good road surface adaptive faculty, have good crossing ability for road conditions such as avenue, meadow, mountain region, step, irrigation canals and ditches.
Description
Technical field
The utility model relates to the chassis structure of a kind of Small Ground Mobile Robot (SUGV).
Background technology
Along with the development of electromechanical integration technology, the application of the aspects such as robot, in our production, is lived, military is more and more extensive, SUGV(Small Unmanned Ground Vehicle) arise at the historic moment.Detect for unknown region, military surveillance, the Small Ground Mobile Robot of the dangerous operations such as scene of a fire detection, the large focus strong with its viability, volume is little, cost is low, the feature such as flexible of moving becomes ground mobile robot field of research.Along with correlation technique is increasingly mature, Small Ground Mobile Robot had been applied to military affairs, guard field in recent years more and more, and simultaneously gradually to scientific exploration, multiple fields development such as commercial production.But the contradiction between the miniaturization of ground mobile robot and obstacle climbing ability is that it moves towards practical restriction condition always.
Through finding the retrieval of prior art, the Small Ground Mobile Robot (SUGV) of many comparatively maturations can be divided into wheeled, crawler type, leg formula, combined type chassis operating structure at present.There is oneself defect in them: wheel type barrier-crossing ability, road surface adaptive capacity weak separately; Crawler type power consumption is high, wearing and tearing are large, obstacle detouring process has larger fluctuating, not steadily; Leg formula controls complexity, speed is slow; May be there is operation dead point in composite structure, cause failure mechanisms, and some can not carry out across ditch.
In sum, the patent of existing announcement does not all solve following problem preferably: while guaranteeing efficient, high-speed cruising, ensure that Small Ground Mobile Robot has good road surface adaptive capacity, excellent obstacle detouring energy ability; , dead point can not be there is easily, multiple road can be adapted to (step, concave-convex road surface, irrigation canals and ditches etc.) in a set of rational structure.
Summary of the invention
Goal of the invention: the multiple shortcoming existed for traditional Small Ground Mobile Robot carriage chassis, the present invention will provide a kind of operation efficient, steady, road surface adaptive capacity is good, can carry out climbing, cross-country, upstairs, the carriage chassis structure of Novel small-sized ground mobile robot of to move across ditch etc.
In order to achieve the above object, the technical scheme that the utility model is taked is: a kind of chassis structure of Small Ground Mobile Robot, comprise basic machine structure and control system, it is characterized in that, described basic machine mechanism is made up of front walking leg, middle walking leg, rear walking leg, parallelogram linkage and vehicle body; Described before walking leg and described in the middle of walking leg all with described parallelogram connection-rod anatomical connectivity, described rear walking leg is all connected with described vehicle body with described parallelogram connection-rod structure; Before described, walking leg is divided into identical two groups, often organizes described front walking leg and is made up of planet circular system transmission module, front walking leg support, road wheel, road wheel support and DC speed-reducing; Wherein, described road wheel is connected with described road wheel support, and described road wheel support, described planet circular system rotating module and described DC motor are all connected with described front leg support of walking, walking leg support and described parallelogram connection-rod anatomical connectivity before described; In the middle of described, walking leg is divided into identical two groups, often organizes described middle walking leg and is made up of common wheel, middle walking leg support, road wheel, road wheel support and DC speed-reducing; Wherein, described road wheel is connected with described road wheel support, described DC motor is connected with described common wheel, and described common wheel and described road wheel support are all connected with described middle leg support of walking, walking leg support and described parallelogram connection-rod anatomical connectivity in the middle of described; Described rear walking leg is divided into identical two groups, often organizes described rear walking leg and is made up of planet circular system transmission module, rear walking leg support, road wheel, road wheel support and DC speed-reducing; Wherein, described road wheel is connected with described road wheel support, and described road wheel support, described planet circular system rotating module and described DC motor are all connected with described rear walking leg support, and described rear walking leg support is connected with described vehicle body; Described vehicle body is made up of vehicle frame, compartment, Worm reduction motor that bottom is identical with two, described compartment is connected with described vehicle frame, described bottom is connected with described compartment, described Worm reduction motor is fixed on described vehicle frame, and described Worm reduction motor is connected with described rear walking leg respectively by described rear walking leg support.Described parallelogram connection-rod structure is by parallelogram frame, the Worm reduction motor composition that intermediate stand is identical with four, four described Worm reduction motors are fixed in described parallelogram frame, and two the described Worm reduction motors corresponding with described front leg of walking are connected with described front leg of walking respectively by described front leg support of walking, two the described Worm reduction motors corresponding with described middle leg of walking are connected with described middle leg of walking respectively by described middle leg support of walking, described parallelogram frame is connected with described vehicle body by described intermediate stand, described planet circular system transmission module is made up of wheel, train of gears and planet circular system support, be connected with described wheel after described train of gears is fixing by described planet circular system support, described train of gears is connected with described DC motor. wherein, described planet circular system transmission module and described common wheel are controlled by described DC speed-reducing, and described front walking leg, described middle walking leg and described rear walking leg are controlled by described Worm reduction motor.
Further, described control system is made up of main control module, motor drive module and wireless remote control module; Described DC speed-reducing is connected with described motor drive module with described Worm reduction motor, and described motor drive module is connected with described main control module, and described main control module is connected with described wireless remote control module.
Further, described road wheel is follower.
Further, described motor drive module is L298N motor driver, and described motor drive module has 6, and 3 are connected with described DC speed-reducing, and each described motor drive module can drive two described DC speed-reducing; 3 are connected with described Worm reduction motor, and each described motor drive module can drive two described Worm reduction motors.
Further, described main control module is micro controller system.
Further, described main control module, described motor drive module and described wireless remote control module are placed on described vehicle body.
Technique effect of the present utility model: the chassis structure of this Small Ground Mobile Robot combines advantage in many ways, possess following advantage (1) this ground mobile robot simultaneously and namely remained efficient when wheel undercarriage runs, fast speed feature, possesses again powerful obstacle climbing ability when leg formula chassis is run, answering property when simultaneously having a good road surface of crawler type.Vertical obstacle clearing capability can reach 300mm(3 and doubly take turns high) or more.(2) combine the obstacle detouring form of " passive " and " initiatively ", in operational process, not easily occur dead point, can trench be passed through, the Typical obstacles such as step.(3) have the automatic ability adjusting attitude, road surface laminating ability is good, and operational process is steady, not easily occurs the phenomenons such as concussion, the function to expand this ground mobile robot such as applicable lift-launch precision instrument.(4) control principle is simple, easy to operate.(5) various piece easily realizes modularization, convenient for maintaining, and practicality is good.
Accompanying drawing explanation
Fig. 1: a kind of integral structure figure of chassis structure of Small Ground Mobile Robot;
Fig. 2: a kind of star wheel series integral structure figure of chassis structure of Small Ground Mobile Robot;
Fig. 3: a kind of front walking leg integral structure figure of chassis structure of Small Ground Mobile Robot;
Fig. 4: a kind of middle walking leg integral structure figure of chassis structure of Small Ground Mobile Robot;
Fig. 5: a kind of rear walking leg integral structure figure of chassis structure of Small Ground Mobile Robot;
Fig. 6: a kind of parallelogram linkage integral structure figure of chassis structure of Small Ground Mobile Robot;
Fig. 7: a kind of car body integral structure figure of chassis structure of Small Ground Mobile Robot;
Fig. 8: a kind of control system schematic diagram of chassis structure of Small Ground Mobile Robot;
Fig. 9: a kind of chassis structure of Small Ground Mobile Robot cross vertical obstacle exploded drawings;
Figure 10: a kind of operational process diagram of circuit of chassis structure of Small Ground Mobile Robot;
Wherein: 1, planet circular system transmission module; 2, front walking leg; 3, middle walking leg; 4, rear walking leg; 5, parallelogram linkage; 6, vehicle body; 7, wheel; 8, train of gears; 9, planet circular system support; 10, road wheel support; 11, road wheel; 12, front walking leg support; 13, DC speed-reducing; 14, common wheel; 15, middle walking leg support; 16, rear walking leg support; 17, parallelogram frame; 18, intermediate stand; 19, Worm reduction motor; 20, vehicle frame; 21, compartment; 22, bottom;
Detailed description of the invention
Below in conjunction with accompanying drawing, set forth the utility model further.A chassis structure for Small Ground Mobile Robot, comprises basic machine structure and control system, and described basic machine mechanism is made up of front walking leg 2, middle walking leg 3, rear walking leg 4, parallelogram linkage 5 and vehicle body 6; Before described, walking leg 2 is all connected with described parallelogram connection-rod structure 5 with described middle walking leg 3, and described rear walking leg 4 is all connected with described vehicle body 6 with described parallelogram connection-rod structure 5; Before described, walking leg 2 is divided into identical two groups, often organizes described front walking leg 2 and is made up of planet circular system transmission module 1, front walking leg support 12, road wheel 11, road wheel support 10 and DC speed-reducing 13; Wherein, described road wheel 11 is connected with described road wheel support 10, described road wheel support 10, described planet circular system rotating module 1 and described DC motor 13 are all connected with described front leg support 12 of walking, and before described, walking leg support 12 is connected with described parallelogram connection-rod structure 5; In the middle of described, walking leg 3 is divided into identical two groups, often organizes described middle walking leg 3 and is made up of common wheel 14, middle walking leg support 15, road wheel 11, road wheel support 10 and DC speed-reducing 13; Wherein, described road wheel 11 is connected with described road wheel support 10, described DC motor 13 is connected with described common wheel 14, described common wheel 14 and described road wheel support 10 are all connected with described middle leg support 15 of walking, and in the middle of described, walking leg support 15 is connected with described parallelogram connection-rod structure 5; Described rear walking leg 4 is divided into identical two groups, often organizes described rear walking leg 4 and is made up of planet circular system transmission module 1, rear walking leg support 16, road wheel 11, road wheel support 10 and DC speed-reducing 13; Wherein, described road wheel 11 is connected with described road wheel support 10, and described road wheel support 10, described planet circular system rotating module 1 and described DC motor 13 are all connected with described rear walking leg support 16, and described rear walking leg support 16 is connected with described vehicle body 6; Described vehicle body is made up of vehicle frame 20, compartment 21, Worm reduction motor 19 that bottom 22 is identical with two, described compartment 21 is connected with described vehicle frame 20, described bottom 22 is connected with described compartment 21, described Worm reduction motor 19 is fixed on described vehicle frame 20, and described Worm reduction motor 19 is connected with described rear walking leg 4 respectively by described rear walking leg support 16.Described parallelogram connection-rod structure 5 is by parallelogram frame 17, the Worm reduction motor 19 that intermediate stand 18 is identical with four forms, four described Worm reduction motors 19 are fixed in described parallelogram frame 17, and two the described Worm reduction motors 19 corresponding with described front leg 2 of walking are connected with described front leg 2 of walking respectively by described front leg support 12 of walking, two the described Worm reduction motors 19 corresponding with described middle leg 3 of walking are connected with described middle leg 3 of walking respectively by described middle leg support 15 of walking, described parallelogram frame 5 is connected with described vehicle body 6 by described intermediate stand 18, described planet circular system transmission module 1 is made up of wheel 7, train of gears 8 and planet circular system support 9, and be connected with described wheel 7 after described train of gears 8 is fixing by described planet circular system support 9, described train of gears 8 is connected with described DC motor 13, described control system is made up of main control module, motor drive module and wireless remote control module, described DC speed-reducing 13 is connected with described motor drive module with described Worm reduction motor 19, and described motor drive module is connected with described main control module, and described main control module is connected with described wireless remote control module.Described road wheel 11 is followers.Described motor drive module is L298N motor driver, and described motor drive module has 6, and 3 are connected with described DC speed-reducing 13, and each described motor drive module can drive two described DC speed-reducing 13; 3 are connected with described Worm reduction motor 19, and each described motor drive module can drive two described Worm reduction motors 19.Described main control module is micro controller system.Described main control module, described motor drive module and described wireless remote control module are placed on described vehicle body 6.
Control system operating principle of the present utility model is as shown in Figure 8: realize across ditch in order to ensure can the cooperatively interact adjustment of the normal walking and obstacle detouring that realize this ground mobile robot and walking leg pose of parallelogram connection-rod structure 5 and planet circular system transmission module 1 and avoid connecting rod mechanism to run dead point.The chassis structure of this ground mobile robot has 12 motors to need to control.Wherein to have 6 to be the Worm reduction motor 19,6 that controls walking leg be direct outputting power to the DC speed-reducing 13 of sun wheel (planet circular system transmission module) and wheel 2.Here will the chassis structure of mode to this Small Ground Mobile Robot of S. A. remote manual control be adopted to control.The control chip of main control module uses micro controller system.Motor drive module utilizes L298N chip as the core of module, has 6 motor drive modules, and wherein each motor drive module can drive two DC motor 13 and two Worm reduction motors 19.Utilize wireless remote control module by control signal handoff to micro controller system, micro controller system exports corresponding low and high level through process and drives corresponding motor action to realize the operation of the chassis structure of this Small Ground Mobile Robot to motor drive module.With the chassis structure of this Small Ground Mobile Robot for carrying platform, a series of additional function can being developed, the function of the chassis structure of this Small Ground Mobile Robot can be enriched by adding corresponding expansion module, just not repeat here.
The operating process of Worm reduction motor is: Worm reduction motor 19 is after motor drive module drives, the output shaft of Worm reduction motor 19 is connected with walking leg by hexagonal coupler, the walking leg that rotarily drives of Worm reduction motor 19 rotates, thus the pose of adjustment pose walking leg.When leg of walking rotates to level attitude time, road wheel 11 will contact to earth, and the height of whole like this car body just reduces.Especially, when carrying out moving across ditch, walking leg can be flat, and also requires that the width of ditch is greater than the effective length of walking leg, thus walking leg can not fall in ditch because of under the effect of gravity, and whole like this mechanism just fails.
Climb up and over vertical obstructive process below in conjunction with Fig. 9 to the utility model to be described, obstacle detouring process can be analyzed to following 7 states.
State one: the traveling of this state machine people on level road, DC speed-reducing 13 drives planet circular system transmission module 1 and common wheel 2 to rotate, and under gravity, planet circular system support 9 can not overturn, with the form transmission of fixed shaft gear train.
State two: this state is that the wheel 7 of walking leg 2 before robot touches vertical obstacle, there is stall in wheel 7, planet circular system transmission module 1 transforms from previous fixed shaft gear train type of belt drive to planet circular system type of belt drive, under the effect of DC speed-reducing 13, whole planet circular system support 9 prepares to overturn forward.
State three: under this state, the wheel 7 of front walking leg 2 has overturn complete, the wheel 7 of front walking leg 2 is pressed on step by the thrust that the centre walking common wheel 14 of leg 3 and the wheel 7 of rear walking leg 4 produce, and relies on the power of self to depart from the support of level ground, prepares upwards to climb.
State four: when this state is for climbing up and over step, the cross bar of parallelogram frame 17 reaches the attitude of maximum elevation.Now because the elevation angle of parallelogram frame 17 retrains, the common wheel 14 of middle walking leg 3 is raised by lifting, departs from the constraint of level ground.Therefore, the power that it produces also just fails.Car body can simplify the single-unit chassis regarded as and be made up of the wheel 7 of the wheel 7 of front walking leg 2 and rear walking leg 4, and front-wheel is pressed on the vertical plane of step by the horizontal thrust provided by the wheel 7 of rear walking leg 4.The wheel 7 of front walking leg 2 upwards climbs by the component of the thrust in the vertical direction that the wheel 7 of self power and rear walking leg 4 provides.
State five: this state is the vertical plane that middle common wheel 14 of walking leg 3 touches step, rely on the advance thrust that provides of car body on the contact surface compacted, by the driving of DC speed-reducing 13, produce the power upwards climbed, the elevation angle of the cross bar of parallelogram frame 17 constrains in and now starts to lose efficacy.
State six: this state is the vertical plane that the wheel 7 of rear walking leg 4 touches step, there is stall in the wheel 7 of rear walking leg 4, planet circular system transmission module 1 transforms from previous fixed shaft gear train type of belt drive to planet circular system type of belt drive, under the effect of DC speed-reducing, whole planet circular system support 9 prepares to overturn forward.
State seven: under this state, the wheel 7 of rear walking leg 4 has overturn complete, and the wheel 7 of rear walking leg 4 is pressed on step under the effect of tractive force, relies on the power of self to depart from the support of level ground, prepares upwards to climb.
Be finally this Small Ground Mobile Robot success clear an obstacle, operation scheme gets back to state one again.
Shown in Figure 10, the chassis structure operational process of this Small Ground Mobile Robot is:
(1) first actv. analysis to be carried out for surface conditions; (2) when road surface is general continuous road surface (as avenue, meadow, park, mountain region, step etc.), if when not occurring that in operational process dead point causes failure mechanisms, whole service process is without the need to making any adjustment.Under the combined action of planet circular system transmission module 1 and parallelogram linkage 5, the chassis structure of this Small Ground Mobile Robot can be good at fitting with road surface, operate steadily effectively, control simple and convenient, as long as the direction of adjustment car body (being vertically highly not more than 300mm of obstacle); (3) when road surface is that general continuous road surface is (as avenue, meadow, park, mountain region, step etc.) time, if there is dead point in operational process, dead point can be crossed by the pose controlling corresponding Worm reduction motor 19 adjustment walking leg, assurance mechanism no longer lost efficacy, thus reached the object continuing to run; (4) when running into the road conditions on the discontinuous road surfaces such as irrigation canals and ditches, need the pose by controlling corresponding Worm reduction motor 19 adjustment walking leg, make it set level reduction height of the carbody, carry out across ditch, the width of ditch is less than the effective length of walking leg.
Claims (6)
1. the chassis structure of a Small Ground Mobile Robot, comprise basic machine structure and control system, it is characterized in that, there are front walking leg (2), middle walking leg (3), rear walking leg (4), parallelogram linkage (5) and vehicle body (6) composition in described basic machine mechanism, before described, walking leg (2) is all connected with described parallelogram connection-rod structure (5) with described middle walking leg (3), and described rear walking leg (4) is all connected with described vehicle body (6) with described parallelogram connection-rod structure (5), before described, walking leg (2) is divided into identical two groups, often organizes described front walking leg (2) and is made up of planet circular system transmission module (1), front walking leg support (12), road wheel (11), road wheel support (10) and DC speed-reducing (13), wherein, described road wheel (11) is connected with described road wheel support (10), described road wheel support (10), described planet circular system rotating module (1) and described DC motor (13) are all connected with described front leg support (12) of walking, and before described, walking leg support (12) is connected with described parallelogram connection-rod structure (5), in the middle of described, walking leg (3) is divided into identical two groups, often organizes described middle walking leg (3) and is made up of common wheel (14), middle walking leg support (15), road wheel (11), road wheel support (10) and DC speed-reducing (13), wherein, described road wheel (11) is connected with described road wheel support (10), described DC motor (13) is connected with described common wheel (14), described common wheel (14) and described road wheel support (10) are all connected with described middle leg support (15) of walking, and in the middle of described, walking leg support (15) is connected with described parallelogram connection-rod structure (5), described rear walking leg (4) is divided into identical two groups, often organizes described rear walking leg (4) and is made up of planet circular system transmission module (1), rear walking leg support (16), road wheel (11), road wheel support (10) and DC speed-reducing (13), wherein, described road wheel (11) is connected with described road wheel support (10), described road wheel support (10), described planet circular system rotating module (1) and described DC motor (13) are all connected with described rear walking leg support (16), and described rear walking leg support (16) is connected with described vehicle body (6), described vehicle body is made up of vehicle frame (20), compartment (21), Worm reduction motor (19) that bottom (22) is identical with two, described compartment (21) is connected with described vehicle frame (20), described bottom (22) is connected with described compartment (21), described Worm reduction motor (19) is fixed on described vehicle frame (20), and described Worm reduction motor (19) is connected with described rear walking leg (4) respectively by described rear walking leg support (16), described parallelogram connection-rod structure (5) is by parallelogram frame (17), Worm reduction motor (19) composition that intermediate stand (18) He Sitai is identical, four described Worm reduction motors (19) are fixed on described parallelogram frame (17), and two the described Worm reduction motors (19) corresponding with described front leg (2) of walking are connected with described front leg (2) of walking respectively by described front leg support (12) of walking, two the described Worm reduction motors (19) corresponding with described middle leg (3) of walking are connected with described middle leg (3) of walking respectively by described middle leg support (15) of walking, described parallelogram frame (5) is connected with described vehicle body (6) by described intermediate stand (18), described planet circular system transmission module (1) is made up of wheel (7), train of gears (8) and planet circular system support (9), be connected with described wheel (7) after described train of gears (8) is fixing by described planet circular system support (9), described train of gears (8) is connected with described DC motor (13).
2. the chassis structure of a kind of Small Ground Mobile Robot according to claim 1, is characterized in that, described control system is made up of main control module, motor drive module and wireless remote control module; Described DC speed-reducing (13) is connected with described motor drive module with described Worm reduction motor (19), and described motor drive module is connected with described main control module, and described main control module is connected with described wireless remote control module.
3. the chassis structure of a kind of Small Ground Mobile Robot according to claim 1, is characterized in that, described road wheel (11) is follower.
4. the chassis structure of a kind of Small Ground Mobile Robot according to claim 2, it is characterized in that, described motor drive module is L298N motor driver, described motor drive module has 6,3 are connected with described DC speed-reducing (13), and each described motor drive module can drive two described DC speed-reducing (13); 3 are connected with described Worm reduction motor (19), and each described motor drive module can drive two described Worm reduction motors (19).
5. the chassis structure of a kind of Small Ground Mobile Robot according to claim 2 or 4, is characterized in that, described main control module is micro controller system.
6. the chassis structure of a kind of Small Ground Mobile Robot according to claim 4, is characterized in that, described main control module, described motor drive module and described wireless remote control module are placed on described vehicle body (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420432629.9U CN204184489U (en) | 2014-08-04 | 2014-08-04 | A kind of chassis structure of Small Ground Mobile Robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420432629.9U CN204184489U (en) | 2014-08-04 | 2014-08-04 | A kind of chassis structure of Small Ground Mobile Robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204184489U true CN204184489U (en) | 2015-03-04 |
Family
ID=52616509
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420432629.9U Expired - Fee Related CN204184489U (en) | 2014-08-04 | 2014-08-04 | A kind of chassis structure of Small Ground Mobile Robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204184489U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105329335A (en) * | 2015-11-12 | 2016-02-17 | 机器时代(北京)科技有限公司 | Six-wheeled robot chassis and robot |
| CN106137570A (en) * | 2016-08-08 | 2016-11-23 | 李霞林 | A kind of obstacle-surmounting rescue vehicle based on parallel institution |
| CN106256669A (en) * | 2015-06-18 | 2016-12-28 | 江苏元中直流微电网有限公司 | Detect little automobile-used planet gear type from buffering efficient obstacle crossing device |
| CN106774366A (en) * | 2016-12-23 | 2017-05-31 | 山河智能装备股份有限公司 | A kind of bionical unmanned vehicle control and its control method |
| CN107010133A (en) * | 2017-04-19 | 2017-08-04 | 应夏英 | A kind of robot of town road with buffer unit |
| CN111531584A (en) * | 2020-05-13 | 2020-08-14 | 安徽伽马莱恩机器人有限公司 | Self-balancing chassis capable of climbing steps for disinfection robot |
| CN111703556A (en) * | 2020-05-21 | 2020-09-25 | 江苏大学 | Obstacle crossing trolley in cabin and working method |
| CN113086049A (en) * | 2021-04-29 | 2021-07-09 | 顺德职业技术学院 | Multi-wheel-train multi-degree-of-freedom mobile chassis |
-
2014
- 2014-08-04 CN CN201420432629.9U patent/CN204184489U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106256669A (en) * | 2015-06-18 | 2016-12-28 | 江苏元中直流微电网有限公司 | Detect little automobile-used planet gear type from buffering efficient obstacle crossing device |
| CN105329335A (en) * | 2015-11-12 | 2016-02-17 | 机器时代(北京)科技有限公司 | Six-wheeled robot chassis and robot |
| CN106137570A (en) * | 2016-08-08 | 2016-11-23 | 李霞林 | A kind of obstacle-surmounting rescue vehicle based on parallel institution |
| CN106137570B (en) * | 2016-08-08 | 2017-11-03 | 江苏金猫机器人科技有限公司 | A kind of obstacle-surmounting rescue vehicle based on parallel institution |
| CN106774366A (en) * | 2016-12-23 | 2017-05-31 | 山河智能装备股份有限公司 | A kind of bionical unmanned vehicle control and its control method |
| CN107010133A (en) * | 2017-04-19 | 2017-08-04 | 应夏英 | A kind of robot of town road with buffer unit |
| CN111531584A (en) * | 2020-05-13 | 2020-08-14 | 安徽伽马莱恩机器人有限公司 | Self-balancing chassis capable of climbing steps for disinfection robot |
| CN111703556A (en) * | 2020-05-21 | 2020-09-25 | 江苏大学 | Obstacle crossing trolley in cabin and working method |
| CN113086049A (en) * | 2021-04-29 | 2021-07-09 | 顺德职业技术学院 | Multi-wheel-train multi-degree-of-freedom mobile chassis |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN204184489U (en) | A kind of chassis structure of Small Ground Mobile Robot | |
| CN205632713U (en) | Active planetary gear train hinders robot chassis more | |
| CN105292281B (en) | A kind of substation inspection wheel carries out formula barrier-surpassing robot | |
| CN203958366U (en) | A kind of under-driven adaptive obstacle detouring train | |
| CN106965864B (en) | Wheel-track composite self-adaptive robot moving platform based on planet wheel | |
| CN106114661B (en) | A kind of crawler belt transformable robot mobile platform based on four-bar mechanism | |
| CN211032803U (en) | Double-wheel-foot hybrid self-balancing robot | |
| CN103693121B (en) | A kind of Transformable caterpillar | |
| CN103932849B (en) | A kind of under-driven adaptive formula stair climbing wheelchair | |
| WO2017067107A1 (en) | Automatic raising/lowering wheel mechanism, and intelligent luggage and method of using same | |
| CN103683111B (en) | Inspection robot based on centre of gravity adjustment | |
| CN202765122U (en) | All-terrain single-connection-rod auxiliary rescue robot | |
| CN104787133B (en) | A kind of upset arm mechanism suitable for wheel-track combined chassis | |
| CN203790168U (en) | Wheel and caterpillar type road and stair dual-purpose wheelchair | |
| CN102514640B (en) | Deformable rescue robot | |
| CN203740002U (en) | Swing arm type tracked robot | |
| CN104828164A (en) | Four-section wheel-track combined intelligent obstacle-crossing robot | |
| CN103767841A (en) | Wheel and crawler type dual-purpose wheelchair for both roads and stairs | |
| CN204915892U (en) | Wheeled motion of chassis lift type biped and robot | |
| CN211107765U (en) | Stair climbing robot with telescopic wheel structure | |
| CN203637971U (en) | Transformable crawler | |
| CN210072413U (en) | Motion control system of transformer substation inspection robot | |
| CN204488996U (en) | Planetary differential obstacle crossing type caterpillar robot | |
| CN104434431A (en) | Portable stair climbing device | |
| CN203693924U (en) | Wheelchair drive device and wheelchair |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150304 Termination date: 20160804 |